EON SPACE VENTURES · SIMULATION PROCEDURERobot payload exchange with a controlled handoff
ESV-S04-SOP-01 · Robot servicing workcell · model v3 · 12 steps
Rehearse a supervised robot exchanging a satellite payload while coordinating gripper state, payload latches, socket identity and support responsibility. Stop and recover from a false release indication.
Concept-model training and authoring specification. Real hardware operations require the programme owner’s approved procedure and engineering limits.
Before the exercise
Use the unpowered workcell concept and authored robot poses. The learner runs a simulation, not a physical robot. Supply reviewed approach, grasp, parked and seated states; verified kinematics and force control are not assumed.
1 Confirm the workcell configuration
Model labels: bench, robot, satellite
Match the bench, robot and satellite to the saved training configuration. Confirm the correct payload exchange task and model revision.
Check: All three identities must agree before any robot movement.
2 Establish the supervised mode
Model labels: robot.base.cover, robot.shoulder, robot.elbow
Confirm the scenario supplied supervised, energy isolated training mode. Identify the shoulder and elbow groups used by the authored pose sequence.
Check: This acknowledgement does not establish real robot safety functions or joint limits.
3 Identify the payload interfaces
Model labels: sat.payload, sat.payload.mount, sat.socket
Select the payload, mounting interface and socket. Compare their identity and starting state with the training task card.
Check: The learner must distinguish payload from supporting satellite structure.
4 Prepare the gripper approach
Model labels: gripper, gripper.upper, gripper.lower, robot.wrist
Move to the reviewed approach pose with both jaws open. Check the gripper envelope against the payload before proceeding.
Check: Approach stops at the authored boundary; no force based grasp is inferred.
5 Confirm the grasp evidence
Model labels: gripper.upper, gripper.lower, sat.payload
Apply the simulated grasp state and record jaw and payload relationship. Require an independent support acknowledgement before releasing the satellite interface.
Check: A closed jaw appearance alone is not accepted as a supported payload.
6 Release the four payload latches
Model labels: sat.payload.latchRU, sat.payload.latchRL, sat.payload.latchLU, sat.payload.latchLL
Release each latch in the authored sequence while the payload remains supported. Keep the latch evidence separate from the gripper state.
Check: An unreleased latch blocks withdrawal.
7 Recover the false release indication
Model labels: sat.payload.latchRL, sat.payload, gripper
Present a task indication saying all latches are released while one latch state remains engaged. Hold and compare the actual state record with the instruction.
Check: Continuing withdrawal through the retained latch is a critical error.
8 Withdraw to the parked pose
Model labels: sat.payload, sat.socket, robot.forearm, gripper
Resolve the latch state, then move the supported payload along the reviewed withdrawal path. Park it without disturbing the satellite socket.
Check: The path requires clear latch, support and socket separation states.
9 Reintroduce the replacement state
Model labels: sat.payload, sat.payload.mount, sat.socket
Return the payload mesh as the scenario defined replacement state. Approach the mounting interface in the saved orientation.
Check: Replacement identity is explicit scenario metadata, not proof of a different physical spare.
10 Seat and latch the payload
Model labels: sat.payload, sat.payload.mount, sat.payload.latchRU, sat.payload.latchLL
Seat to the authored datum and engage all required latch states. Confirm the socket interface before transferring support back to the satellite.
Check: An incomplete seating or latch record prevents support transfer.
11 Release and retreat the gripper
Model labels: gripper.upper, gripper.lower, robot.wrist, sat.payload
Confirm satellite support, open the gripper and follow the reviewed retreat pose sequence. Leave the payload and mount in their accepted states.
Check: The gripper cannot release before the receiving support state is established.
12 Submit the exchange evidence
Model labels: sat.payload, sat.socket, robot, bench
Submit the pose sequence, latch events, support handoffs and fault recovery. Return the workcell to its named ready configuration.
Check: Complete only when all holds are resolved and the payload is independently retained.
Assessment and completion
Score object identification 20, support and latch dependencies 30, fault handling 20, restored configuration 15 and evidence 15. Unsupported release or withdrawing against an engaged latch stops completion.
Authoring and headless handoff
Bind robot, gripper and payload objects to reviewed keyframes and explicit state transitions. Validate parent groups and child transforms before export. This exercise does not send robot commands or demonstrate validated grasp forces.
Reuse the exact GLB and part identifiers. Verify the supported Genesis import and binding path before generation. These are procedure specifications; they do not claim a completed Genesis run.